Adaptive Whole-body Robotic Tool-use Learning on Low-rigidity Plastic-made Humanoids Using Vision and Tactile Sensors

Kento Kawaharazuka,Kei Okada,Masayuki Inaba,Kento Kawaharazuka,Kei Okada,Masayuki Inaba

Various robots have been developed so far; however, we face challenges in modeling the low-rigidity bodies of some robots. In particular, the deflection of the body changes during tool-use due to object grasping, resulting in significant shifts in the tool-tip position and the body’s center of gravity. Moreover, this deflection varies depending on the weight and length of the tool, making these mo...